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<a href="_point_cloud_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/* SPDX-FileCopyrightText: Copyright (c) 2023 - 2024, the adamantine authors.</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <<a class="code" href="_point_cloud_8hh.html">PointCloud.hh</a>></span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <<a class="code" href="instantiation_8hh.html">instantiation.hh</a>></span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <<a class="code" href="utils_8hh.html">utils.hh</a>></span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <fstream></span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <regex></span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">namespace </span><a class="code" href="namespaceadamantine.html">adamantine</a></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> {</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">template</span> <<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classadamantine_1_1_point_cloud.html#aab8a1a67b659e595e36aad4ff6815e18"> 15</a></span> <a class="code" href="classadamantine_1_1_point_cloud.html#aab8a1a67b659e595e36aad4ff6815e18">PointCloud<dim>::PointCloud</a>(</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  boost::property_tree::ptree <span class="keyword">const</span> &experiment_database)</div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> {</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="comment">// Format of the file names: the format is pretty arbitrary, #frame and</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="comment">// #camera are replaced by the frame and the camera number.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="comment">// PropertyTreeInput experiment.file</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  _data_filename = experiment_database.get<std::string>(<span class="stringliteral">"file"</span>);</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="comment">// PropertyTreeInput experiment.first_frame</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  _next_frame = experiment_database.get(<span class="stringliteral">"first_frame"</span>, 0);</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="comment">// PropertyTreeInput experiment.first_camera_id</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  _first_camera_id = experiment_database.get<<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>>(<span class="stringliteral">"first_camera_id"</span>);</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="comment">// PropertyTreeInput experiment.last_camera_id</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  _last_camera_id = experiment_database.get<<span class="keywordtype">int</span>>(<span class="stringliteral">"last_camera_id"</span>);</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> }</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">template</span> <<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classadamantine_1_1_point_cloud.html#a33700e58ae21cba3e83d8d47f8a11398"> 31</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classadamantine_1_1_point_cloud.html#a33700e58ae21cba3e83d8d47f8a11398">PointCloud<dim>::read_next_frame</a>()</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> {</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  _points_values_current_frame.points.clear();</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  _points_values_current_frame.values.clear();</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> camera_id = _first_camera_id;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  camera_id < _last_camera_id + 1; ++camera_id)</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  {</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="comment">// Use regex to get the next file to read</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  std::regex camera_regex(<span class="stringliteral">"#camera"</span>);</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  std::regex frame_regex(<span class="stringliteral">"#frame"</span>);</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">auto</span> filename =</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  std::regex_replace((std::regex_replace(_data_filename, camera_regex,</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  std::to_string(camera_id))),</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  frame_regex, std::to_string(_next_frame));</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="namespaceadamantine.html#a737967bbc854d35e1281ad917ba24814">wait_for_file</a>(filename, <span class="stringliteral">"Waiting for the next frame: "</span> + filename);</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="comment">// Read and parse the file</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  std::ifstream file;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  file.open(filename);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  std::string <a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">line</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  std::getline(file, <a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">line</a>);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordflow">while</span> (std::getline(file, <a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">line</a>))</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  std::size_t pos = 0;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  std::size_t last_pos = 0;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  std::size_t line_length = <a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">line</a>.length();</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  dealii::Point<dim> <a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a78ee54aa8f813885fe2fe20d232518b9">point</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">double</span> value = 0.;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">while</span> (last_pos < line_length + 1)</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  pos = <a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">line</a>.find_first_of(<span class="charliteral">','</span>, last_pos);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">// If no comma was found that we read until the end of the file</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">if</span> (pos == std::string::npos)</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  {</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  pos = line_length;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  }</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span> (pos != last_pos)</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">char</span> *end = <a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">line</a>.data() + pos;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">if</span> (i < dim)</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  {</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a78ee54aa8f813885fe2fe20d232518b9">point</a>[i] = std::strtod(<a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">line</a>.data() + last_pos, &end);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  }</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  {</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  value = std::strtod(<a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">line</a>.data() + last_pos, &end);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  ++i;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  }</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  last_pos = pos + 1;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  _points_values_current_frame.points.push_back(<a class="code" href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a78ee54aa8f813885fe2fe20d232518b9">point</a>);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  _points_values_current_frame.values.push_back(value);</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">return</span> _next_frame++;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> }</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">template</span> <<span class="keywordtype">int</span> dim></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classadamantine_1_1_point_cloud.html#a87e2c59b194fe38668000922adc32ff6"> 96</a></span> <a class="code" href="structadamantine_1_1_points_values.html">PointsValues<dim></a> <a class="code" href="classadamantine_1_1_point_cloud.html#a87e2c59b194fe38668000922adc32ff6">PointCloud<dim>::get_points_values</a>()</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> {</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">return</span> _points_values_current_frame;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> }</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> } <span class="comment">// namespace adamantine</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="_point_cloud_8cc.html#ae2031223b2864e2d619d8e1fc2fd8ff6"> 103</a></span> <a class="code" href="_point_cloud_8cc.html#ae2031223b2864e2d619d8e1fc2fd8ff6">INSTANTIATE_DIM</a>(PointCloud);</div>
<div class="ttc" id="a_point_cloud_8cc_html_ae2031223b2864e2d619d8e1fc2fd8ff6"><div class="ttname"><a href="_point_cloud_8cc.html#ae2031223b2864e2d619d8e1fc2fd8ff6">INSTANTIATE_DIM</a></div><div class="ttdeci">INSTANTIATE_DIM(PointCloud)</div></div>
<div class="ttc" id="a_point_cloud_8hh_html"><div class="ttname"><a href="_point_cloud_8hh.html">PointCloud.hh</a></div></div>
<div class="ttc" id="aclassadamantine_1_1_point_cloud_html_a33700e58ae21cba3e83d8d47f8a11398"><div class="ttname"><a href="classadamantine_1_1_point_cloud.html#a33700e58ae21cba3e83d8d47f8a11398">adamantine::PointCloud::read_next_frame</a></div><div class="ttdeci">unsigned int read_next_frame() override</div><div class="ttdef"><b>Definition:</b> <a href="_point_cloud_8cc_source.html#l00031">PointCloud.cc:31</a></div></div>
<div class="ttc" id="aclassadamantine_1_1_point_cloud_html_a87e2c59b194fe38668000922adc32ff6"><div class="ttname"><a href="classadamantine_1_1_point_cloud.html#a87e2c59b194fe38668000922adc32ff6">adamantine::PointCloud::get_points_values</a></div><div class="ttdeci">PointsValues< dim > get_points_values() override</div><div class="ttdef"><b>Definition:</b> <a href="_point_cloud_8cc_source.html#l00096">PointCloud.cc:96</a></div></div>
<div class="ttc" id="aclassadamantine_1_1_point_cloud_html_aab8a1a67b659e595e36aad4ff6815e18"><div class="ttname"><a href="classadamantine_1_1_point_cloud.html#aab8a1a67b659e595e36aad4ff6815e18">adamantine::PointCloud::PointCloud</a></div><div class="ttdeci">PointCloud(boost::property_tree::ptree const &experiment_database)</div><div class="ttdef"><b>Definition:</b> <a href="_point_cloud_8cc_source.html#l00015">PointCloud.cc:15</a></div></div>
<div class="ttc" id="ainstantiation_8hh_html"><div class="ttname"><a href="instantiation_8hh.html">instantiation.hh</a></div></div>
<div class="ttc" id="anamespaceadamantine_html"><div class="ttname"><a href="namespaceadamantine.html">adamantine</a></div><div class="ttdef"><b>Definition:</b> <a href="_beam_heat_source_properties_8hh_source.html#l00014">BeamHeatSourceProperties.hh:15</a></div></div>
<div class="ttc" id="anamespaceadamantine_html_a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474"><div class="ttname"><a href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a6438c669e0d0de98e6929c2cc0fac474">adamantine::ScanPathSegmentType::line</a></div><div class="ttdeci">@ line</div></div>
<div class="ttc" id="anamespaceadamantine_html_a15248f4195a1e0e7e349886de9657265a78ee54aa8f813885fe2fe20d232518b9"><div class="ttname"><a href="namespaceadamantine.html#a15248f4195a1e0e7e349886de9657265a78ee54aa8f813885fe2fe20d232518b9">adamantine::ScanPathSegmentType::point</a></div><div class="ttdeci">@ point</div></div>
<div class="ttc" id="anamespaceadamantine_html_a737967bbc854d35e1281ad917ba24814"><div class="ttname"><a href="namespaceadamantine.html#a737967bbc854d35e1281ad917ba24814">adamantine::wait_for_file</a></div><div class="ttdeci">void wait_for_file(std::string const &filename, std::string const &message)</div><div class="ttdef"><b>Definition:</b> <a href="utils_8hh_source.html#l00024">utils.hh:24</a></div></div>
<div class="ttc" id="astructadamantine_1_1_points_values_html"><div class="ttname"><a href="structadamantine_1_1_points_values.html">adamantine::PointsValues</a></div><div class="ttdef"><b>Definition:</b> <a href="experimental__data__utils_8hh_source.html#l00021">experimental_data_utils.hh:22</a></div></div>
<div class="ttc" id="autils_8hh_html"><div class="ttname"><a href="utils_8hh.html">utils.hh</a></div></div>
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